I'm not aware of any specific editing support for m4. However, if you have some time to spare (!) and the BNF for m4, then you could use Xtext (http://wiki.eclipse.org/Xtext) to create a syntax-coloring and -completing editor, with an outline view.
Updated an answer below suggests that m4 doesn't have a BNF, or is not BNeFfable, and certainly a short search of the literature shows no claims that an m4 BNF is available - and it appears, though not explicitly stated, that the m4 language is inexpressible in this way.
Obviously this negates my suggestion, so I must retract it, unless of course Xtext has been extended to deal with such languages. Consult the Xtext website linked above for FAQs and mailing list links.